一种平面四索并联机器人的力/位混合控制研究OA

This study is aiming at the unstable problem that due to shaking of the cable and end effector during the start-stop,direction change,acceleration and deceleration operation of the cable-driven parallel robot.The S-type velocity curve planning method is used to plan the robot's trajectory,and the minimum variance optimization method of cable force is used to optimize the cable tension.Based on the kinematic and dynamic model of the robot,a force/position hybrid control system composed of cable length PD feed-forward closed-loop controller and active tension open-loop controller is designed,and the on-site trial and error method is used to adjust control parameters.The simulation analysis and experimental research on the control systemare conducted,the results show that the force/position hybrid control strategy designed on the basis of S-type velocity curve planning and cable force minimum variance optimization has good control effect,effectively improving the trajectory tracking performance and operational stability of the robot.